Corpus ID: 236635510

On the Configurations of Closed Kinematic Chains in three-dimensional Space

  title={On the Configurations of Closed Kinematic Chains in three-dimensional Space},
  author={Gerhard Zangerl and Alexander Steinicke},
A kinematic chain in three-dimensional Euclidean space consists of n links that are connected by spherical joints. Such a chain is said to be within a closed configuration when its link lengths form a closed polygonal chain in three dimensions. We investigate the space of configurations, described in terms of joint angles of its spherical joints, that satisfy the the loop closure constraint, meaning that the kinematic chain is closed. In special cases, we can find a new set of parameters that… Expand

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